JPH08275675A - Scion hypocotyl-holding device of grafting robot - Google Patents

Abstract

PURPOSE: To provide the scion hypocotyl-holding device of a grafting robot, capable of surely holding the hypocotyl of a scion seedling, capable of maintaining the life of a blade for a long period, and excellent in cuttability by disposing a hypocotyl-receiving member for receiving and holding the inserted hypocotyl on the deep sides of scion hypocotyl auxiliary hands in the hypocotyl- receiving direction. CONSTITUTION: A hypocotyl-receiving and stopping member 30 for receiving and holding an inserted hypocotyl is installed on the longitudinally deep sides of a pair of openable scion hypocotyl auxiliary hands disposed below a cion hand and used for holding a part near to the cutting part of the hypocotyl. The hypocotyl-receiving and stopping member 30 preferably prevents the hypocotyl received between opened holding claws 26, 26 from invading the deeper side than the places of hypocotyl-engaging depressions 26a, 26a.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a scion hypocotyl grasping device for a grafting robot.

[0002]

2. Description of the Related Art Conventionally, in this type of grafting robot of a grafting robot, a pair of openable and closable grips gripping near the cutting of hypocotyls below a scion hand that receives and grips an inserted scion. A configuration provided with a hypocotyl auxiliary hand is known.

[0003]

In the prior art, the seedlings enter the back of the scooping auxiliary hand due to the occurrence of bending of the seedlings or the inclination at the time of inserting the seedlings, and the auxiliary hand does not close. This has been a cause of defective cutting and interference troubles with the cutter blade, such as cutting trees without being surely gripped.

An object of the present invention is to eliminate such a problem. To achieve this purpose, the following technical measures were taken.

[0005]

[Means for Solving the Problems] That is, the technical means according to the present invention is to provide a pair of openable and closable hypocotyl auxiliary hands 27 which are provided below the scion hand 25 and grip the vicinity of the hypocotyl cutting, An embryo bearing stopper 30 that receives and holds the inserted hypocotyl is provided on the back side of the hypocotyl auxiliary hand 27 in the hypocotyl receiving direction.

[0006]

When a pair of gripping claws that can be opened and closed are open outward and in a seedling receiving state, the hypocotyl of the seedling to be inserted is received by the receiving body and held at a predetermined angle. . The hypocotyl is securely held by closing the holding claw while being held at a predetermined angle.

In short, according to the present invention, since the seedling does not enter the back side of the auxiliary hand, the seedling can be reliably gripped and the posture of the seedling is maintained at a predetermined angle, so that the cutting performance is improved.
That is, it is possible to stabilize the cutting length and the cutting angle. In addition, the stopper effect of the receiving body improves the adaptability to seedling properties, for example, bending of the seedling, and since there is no interference with the cutter blade, there is no mechanical lock and the blade life is maintained for a long time. It also has an effect.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described with reference to the drawings. The grafting robot, as shown in FIG.
And a clip feeder portion B, and the graft portion A includes a root portion 1, a spike portion 2 and an intermediate joint portion 3.

The rootstock 1 comprises a rootstock seedling supply device 4, a rootstock seedling transport device 5 and a rootstock cutter 6, and the scion part 2 also has a scion seedling supply device 7 and a scion. It consists of a seedling carrier device 8 and a scion cutter 9. The rootstock seedlings artificially supplied to the rootstock seedling supply device 4 are transferred to the cutting position of the rootstock cutter 6 by the rootstock seedling transfer device 5 rotating in the direction of arrow (a) in FIG. The tree cutter rotates, and the cutter blade leaves the root part of the rootstock seedling and cuts off the other true leaf parts. The cut rootstock is conveyed in the arrow (B) direction, and is joined to the spike by the joining device 10 at the joining portion 3.

Similarly, the scion seedling supplying device 7 is artificially driven.
The scion seedlings supplied to the scooping seedlings are conveyed in the direction of the arrow (c) by the scion seedling conveying device 8 and the tissues above the hypocotyl portion are removed by the scion cutter 9 that rotates downward from the cutting position. The hypocotyl part and the root part are partially cut off. Then, the scion is conveyed in the direction of the arrow (d), and the scion and the rootstock are joined at the joining portion 3 by the clip supplied from the clip feeder B, and the grafting action is completed. Become.

The scion seedling supply device 7 will be described. A seedling stand 11 having a scion supply guide groove 11a and an embryo bearing plate 1 are provided.
2. A hypocotyl hand 13 that can be opened and closed by swinging, a scion sensor (photoelectric tube) 14 that detects the supply of scion seedlings, and the like, which are set on a seedling receiving base 15. The seedling receiving base 15 has a rotation angle with respect to a slide base 16 which can be vertically and horizontally slidably adjusted, through an arcuate elongated hole 17 having a rotation axis Q as a center and a fastener 18. It is configured to be changeable. In other words, in the case of watermelons, for example, in the case of watermelons, a tilted posture inclined by about 15 degrees in front view (see (a) of FIG. 2) and a case where the seedling quality is soft such as melon or cucumber Is almost vertical (Fig. 2
(See (b)).

The scion sensor 14 is configured to detect that the scion seedlings have been supplied into the guide groove 11a of the seedling stand 11, and the hypocotyl hand 13 is detected based on the detection result of the sensor 14.
Oscillates in the closing direction and grips the scion seedlings supplied between it and the embryo bearing plate 12. The scion seedling conveying device 8 includes a rotary actuator 19 for conveying scion and the actuator 19.
The lower part of the scoop conveying arm support 20 is rotatably supported around an actuator rotating shaft 21. The scion conveying arm support 20 includes a scoop conveying arm extruding cylinder 22 supported by the supporting body 20, a scoop conveying arm 23 expanded and contracted by the cylinder 22, and the conveying arm. At the tip of 23, a scion hand 25 composed of a pair of openable and closable grips 24 and a scion hypocotyl auxiliary hand 27 composed of a pair of grippable claws 26, 26 are provided. A pair of the spike-holding portion 24 and the gripping claw 26 are configured to be openable and closable, and the spikes are gripped by gripping the spikes, and the spike-holding cylinder 28 and the spike-holding auxiliary cylinder. The open / close control is performed by 29 and.

The scion hypocotyl auxiliary hand 27 is a scoop hand 2.
5 is provided at a relative position below 5 and near the cutting of the hypocotyl, and when cutting with the scion cutter 6,
The pair of gripping claws 26, 26 is closed to hold the hypocotyl. The hypocotyl engaging recesses 26a, 26a are provided on the inner surfaces of the pair of grip claws 26, 26 on the opposite side. Further, an embryo bearing stopper 30 for receiving and holding the inserted hypocotyl is provided on the back side of the hypocotyl auxiliary hand 27 in the hypocotyl receiving direction, and is received between the grasping claws 26 in the open state. The configuration is such that the hypocotyl is prevented from entering deeper than the hypocotyl engaging recesses 26a, 26a.

The hooki cutter 9 has a cutter blade 31 at its tip.
And is configured to rotate around the axis 32. K indicates the cutting action locus of the cutter. The configuration of the scion hypocotyl auxiliary hand shown in FIGS. 6 to 10 will be described. As shown in FIGS. 6 and 7, the conventional hypocotyl assisting hand has a hypocotyl engaging recess 2 as shown in FIG.
6a was formed over the entire vertical width of the claw 26. Therefore, for example, when holding the eggplant hypocotyl with a hand,
If there are knots and the like on the cotyledon and the true leaf, the hand is not completely closed and cannot be reliably held, resulting in poor cutting. Therefore, in the embodiment of the present invention shown in FIGS.
The gripping surface Y for gripping the hypocotyl is configured to be substantially parallel to the cutting action (trajectory) plane K (cutting plane of the hypocotyl). According to this, since only the portion of the hypocotyl near the cut surface is gripped, mistakes in closing the gripping hand are reduced and the cutting performance is improved. Further, since the gripping area is small, the influence of the knot is extremely small.

[Brief description of drawings]

[Figure 1] Plan view of the grafting robot

FIG. 2 is a side view of the main part of the same as above.

FIG. 3 is a side view of the main part of the same as above.

FIG. 4 is a side view of the same as above.

FIG. 5 is a plan view of the same as above.

FIG. 6 is a plan view.

FIG. 7 Side view

FIG. 8 is a side view

FIG. 9 is a plan view.

FIG. 10 is a side view.

[Explanation of symbols]

A grafting part B clip feeder part 1 rootstock part 2 scion part 3 joint part 4 rootstock seedling feeding device 5 rootstock seedling transport device 6 rootstock cutter-7 scion seedling feeding device 8 scion seedling transport device 9 Scion cutter 10 Joining device 11 Seedling support 12 Embryo bearing plate 13 Hypocotyl hand 14 Scion sensor 15 Seedling receiving base 16 Slide base 17 Circular slot 18 Clamping tool 19 Rotating actuator for transporting scion -Ta 20 Scoop arm support 21 Rotating shaft 22 Extrusion cylinder 23 Scoop transfer arm 24 Scoop grip 25 Scrub hand 26 Scissors claw 27 Scoop auxiliary hand 28 Scissor cylinder 29 Auxiliary cylinder for grasping spikes 30 Embryo bearing stopper 31 Cutter blade 32 Axis

Claims (1)

[Claims] 1. A pair of openable and retractable scion hypocotyl auxiliary hands 2 which are provided below the scion hand 25 and hold near the hypocotyl cutting.
In FIG. 7, an embryo bearing stopper 30 that receives and holds the hypocotyl inserted in the hypocotyl auxiliary hand 27 on the back side in the hypocotyl receiving direction.
A scion hypocotyl grasping device for a grafting robot, characterized by being provided with.